A Novel Inflatable Actuator Based on Simultaneous Eversion Retraction

摘要

Inflatable robotics is a promising area for the deployment of low-cost structures that are easy to transport and deploy while allowing safe interactions with humans and the environment. One of the key elements in the development of inflatable robots is their actuation system. In this work, we introduce the original concept of a Simultaneous Eversion-Retraction Inflatable Actuator, used in the actuation of an inflatable joint of a long-range manipulator. Through an analytical study, simple relations about the total stroke and the effective area are obtained. These relations are compared to finite elements simulations and contrasted with experimental data obtained from tensile tests of an actuator prototype. The results show that the proposed design outperforms existing concepts in terms of total stroke and force distribution through the entire stroke, which makes it suitable for the actuation of long reach inflatable arms.